the new ftc platform (connecting your legacy hardware) by team #6389 - the lazybotts 2015-2016...

The New FTC Platform(Connecting your legacy hardware)

By Team #6389 - The Lazybotts2015-2016 Season

Outline• The new platform - What changes?

• The new Modern Robotics modules

• Connecting legacy hardware

• The whole new system

• Programming the Legacy Module - App Inventor

• Programming the Legacy Module - Android Studio

• #TipsForFtcTeams

• Questions?

The New Platform - What changes?

• No more NXT or “Samantha” Module• Android ZTE - Snapdragon Processor• Uses Wi-fi Direct• All data connections are now USB• No more RobotC or Labview• Java with Android Studio IDE or MIT

App Inventor• Competitions will be different

• No software inspections• No FCS• No provided joysticks• Sport Start (3...2...1...GO)

The New Platform - Power Dist. Module (PDM)

● A power terminal block allowing for easier power distribution

● The main hub for control communication via USB connectors

● All Anderson power connections

● We recommend changing power plug to an Anderson Powerpole connector

Connects to Android ZTE phone through a mini USB port

6 power outputs for Motor and Servo Controllers

Connects to the 12 volt battery

7 USB ports for Motor & Servo Controllers

The New Platform - Motor Controller Module (MCM)

● Anderson power connectors

● No longer capable of “daisy chaining” controllers

● More durable mounting bracket.

● Two motor encoderconnectors

Connect two DC motors

Connects to the core power module through a mini USB port

Power connection from PDM

The New Platform - Servo Controller Module (SCM)

● Anderson power connectors

● No longer capable of “daisy chaining” controllers

● More durable mounting bracket.

Connect up to six servo motors


Power connection from PDM

● AKA “Advanced Sensor Module”

● Allows you to use standard, off the shelf sensors

● No more need to use the “proto board” to attach limit switches and 3rd party sensors

● Powered by USB connection

● 8 digital I/O ports● 2 PWM output ports● 6 High speed I2C ports● 8 analog input, 2 analog output ports

Connects to the Core Power Module via USB cable

The New Platform - Device Interface Module (DIM)

The New Platform - Core Legacy Module (CLM)


i2c ports connect to the legacy motor and servo controllers i2c ports

● Used only to connect LEGO®

NXT sensors, legacy Hitechnic Motor and Servo controllers, Lego Motors, and Protoboard.

● Powered by USB connection

Putting it all together (Legacy)

USBPOWERDATA

The Whole System

Programming the Legacy Module - App Inventor

● App Inventor - http://ftc.edu.intelitek.com/● Get help at http://groups.google.com/forum/#!forum/mitappinventortest ● A Browser Based Programming tool● A Component and Block Based Programming tool

http://ftc.edu.intelitek.com/

http://groups.google.com/forum/#!forum/mitappinventortest


● FtcDcMotorController

● FtcLegacyModule

● Additional Components


● FtcRobotController

● FtcOpMode

● FtcDcMotor

● FtcGamePad


Chrome v45.0.2454.85 m

Programming the Legacy Module - Android Studio

Initial Setup● Setup Phones● Install Android Studio● Download ftc_app-master from GitHub● Install Driver Station from Google Play Store● Connect phone to Android Studio● Compile and Download Robot Controller App to phone● Name and Pair phones using WiFi Direct● Connect Robot Controller phone to a Wireless Network

accessible from computer


Wi-Fi Programming and Debugging● Determine Robot Controller IP Address


Wi-Fi Programming and Debugging● Connect RobotController phone to PC with a USB cable● Click on the Terminal tab (Bottom row of buttons in

Android Studio)


Wi-Fi Programming and Debugging● Enter: adb tcpip 5555● Enter: adb connect <ip-address>:5555


Create Hardware Configuration File● After downloading and running Robot Controller App

select the main menu


Create Hardware Configuration File● After downloading and running Robot Controller App

select Settings from the main menu

Create Hardware Configuration File● Click New and then Scan to search for connected USB

devices


Create Hardware Configuration File● Click on the Legacy Module and assign devices to

connected ports


Create Hardware Configuration File● Click attached and name each connected motor.(These names will be used in our OpMode program)


Create Hardware Configuration File● Several hardware configurations can be stored on the

Robot Controller allowing one phone to be moved between robots.



Creating a new Op Mode● OpModes are the name for

user programs that can be started and stopped from the Driver Station App (both TeleOp and Autonomous)

● The Robot Controller App project folder can seem intimidating but there are really only a few files we need to update.


Creating a new Op Mode● The easiest way to start is to

copy and paste an existing OpMode

● Android Studio will prompt for a new class name

● In Java class names will be the same as the file they are in.


Creating a new Op Mode● Update the Init() and Loop() methods with custom logic.


Creating a new Op Mode● Telemetry data can send messages back to Driver

Station


Creating a new Op Mode● Add the new OpMode class to the list of registered

OpModes to make it show up on the Driver Station App


Connecting Driver Station● Press Start and A or B on the gamepad after starting

Driver Station App

#TipsForFtcTeams

● USB Plugs can wear out quickly, and may be generally sketchy to begin with.

● Design and 3D print a harness for each module

● Static discharge may still be an issue

● Avoid multiple USB connection joints

● Amazon.com. Search for “Hittime 3 in 1 USB OTG Cable Adapter”

Questions

?

the new ftc platform (connecting your legacy hardware) by team #6389 - the lazybotts 2015-2016...

Documents

new platform power

core power module

legacy motor

legacy module android

power plug

usb connection

new system

usb connectors